CN109398685B - Patch type piezoelectric driving rotor wing flying device - Google Patents
Patch type piezoelectric driving rotor wing flying device Download PDFInfo
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- CN109398685B CN109398685B CN201811344655.5A CN201811344655A CN109398685B CN 109398685 B CN109398685 B CN 109398685B CN 201811344655 A CN201811344655 A CN 201811344655A CN 109398685 B CN109398685 B CN 109398685B
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- 235000014676 Phragmites communis Nutrition 0.000 claims abstract description 29
- 239000000919 ceramic Substances 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000005452 bending Methods 0.000 claims abstract description 15
- 244000273256 Phragmites communis Species 0.000 claims description 9
- 230000010287 polarization Effects 0.000 claims description 7
- 239000003822 epoxy resin Substances 0.000 claims description 2
- 239000003292 glue Substances 0.000 claims description 2
- 229920000647 polyepoxide Polymers 0.000 claims description 2
- 244000089486 Phragmites australis subsp australis Species 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 9
- 239000002245 particle Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
- B64C27/021—Rotor or rotor head construction
- B64C27/025—Rotor drives, in particular for taking off; Combination of autorotation rotors and driven rotors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a patch type piezoelectric driving rotor wing flying device which comprises a propeller, a rotor mechanism and a patch type piezoelectric actuator. The patch type piezoelectric actuator is of a variable cross-section rod type structure and consists of a constant cross-section rectangular beam and a variable cross-section cylindrical rod, wherein the constant cross-section rectangular beam is stuck with piezoelectric ceramic plates. Wherein, four piezoelectric ceramic pieces are respectively stuck on four surfaces of the rectangular beam with the constant cross section. The rotor mechanism is arranged on the driving surface of the variable-section cylindrical rod of the patch piezoelectric actuator through a certain precompression by a plurality of reeds, and the propeller is fixed on the rotor mechanism. The invention excites the patch piezoelectric actuator to generate two orthogonal second-order bending modes by exciting the two phase electric signals with phase difference and mutually couples the two orthogonal second-order bending modes, so that the driving surface generates integral circular-like rotary motion, and the rotor mechanism and the propeller are driven to rotate by friction. The invention has flexible and compact overall structure and is easy to miniaturize.
Description
Technical Field
The invention relates to a patch type piezoelectric driving rotor wing flying device, and belongs to the technical field of piezoelectric actuation.
Background
The unmanned aerial vehicle is simply called an unmanned aerial vehicle, and is a non-manned aerial vehicle controlled by radio remote control equipment or controlled by a pre-program. The method has the characteristics of zero casualties, less use limit, good concealment and high cost-effectiveness ratio, and has wide application prospect. In order to more conceal penetration into narrow spaces such as rooms, pipes and caves for performing investigation tasks, smaller size and lighter weight of the aircraft are required, and the concept of microminiature aircraft has been developed and further advanced toward miniaturization. The piezoelectric driving device has the advantages of small volume, light weight, rapid response, compact structure, no electromagnetic interference and the like, and meets the requirements of micro-aircrafts on actuators in micro-electromechanical systems (MEMS). The structure of the combined rotor craft is more compact and further simplified, a larger lift-to-weight ratio can be obtained, and the combined rotor craft is possible to complete more various flight tasks.
Disclosure of Invention
The invention aims to: aiming at the prior art, a patch type piezoelectric driving rotor craft device is provided, and piezoelectric driving is combined with a rotor craft.
The technical scheme is as follows: a patch type piezoelectric driving rotor craft device comprises a propeller, a rotor mechanism and a patch type piezoelectric actuator; the patch type piezoelectric actuator consists of a variable cross-section rod and four piezoelectric ceramic plates arranged on the surface of the variable cross-section rod; the variable cross-section rod comprises a constant cross-section rectangular beam positioned at the lower part and a variable cross-section cylindrical rod positioned at the upper part, and the four piezoelectric ceramic plates are respectively stuck to the four surfaces of the constant cross-section rectangular beam; the rotor mechanism comprises a cylindrical ring provided with an even number of eccentric grooves uniformly distributed along the circumference, and an even number of rectangular reeds and elastic rings corresponding to the eccentric grooves; one end of the rectangular reed is provided with a clamping groove, and the other end of the rectangular reed passes through the eccentric groove on the cylindrical ring to be contacted with the driving surface of the variable-section cylindrical rod; the elastic rings are sleeved on the outer sides of the rectangular reeds and fixed at the clamping grooves of the rectangular reeds, and pre-pressure between the rotor mechanism and the patch piezoelectric actuator is applied; the screw propeller is fixed at the upper end of the cylindrical ring.
Further, the four piezoelectric ceramic plates have the same polarization type and are polarized in the thickness direction; all piezoelectric ceramic plates are divided into two groups according to the pasting directions on the four surfaces of the rectangular beam with the uniform section, and the polarization directions of the two piezoelectric ceramic plates in the same direction are the same.
Further, the variable-section cylindrical rod part is provided with two continuous variable-section concave cylindrical structures, and the outer circumference of the concave cylindrical structure with the smallest diameter is the driving surface.
Further, the slotting direction of the eccentric slot on the cylindrical ring is uniformly deviated to one side.
Further, when two groups of ceramic plates on the patch type piezoelectric actuator are respectively applied with two electric signals with pi/2 phase difference, so that the patch type piezoelectric actuator simultaneously excites two mutually perpendicular second-order bending vibration modes, the middle node of the variable cross section rod is positioned at the middle node of two orthogonal second-order bending vibrations, the bonding positions of the two groups of piezoelectric ceramic plates are respectively positioned at the first maximum amplitude position of each self-excited second-order bending vibration, and the driving surface is positioned at the second maximum amplitude position of each second-order bending vibration.
The beneficial effects are that: the patch type piezoelectric driving rotor wing flying device designed by the invention has the advantages of compact structure, easy clamping, low noise and electromagnetic interference resistance, wherein the patch type piezoelectric actuator has a simple and flexible structural form and is easy to realize miniaturization. As a rotor device per se, a high lift-to-weight ratio can be achieved.
Drawings
FIG. 1 is a three-dimensional schematic view of a patch-type piezoelectrically driven rotorcraft of the present invention;
FIG. 2 is a schematic structural view of a patch-type piezoelectrically driven rotorcraft device of the present invention;
FIG. 3 is a schematic diagram of a rotor mechanism;
FIG. 4 is a side view of a patch-type piezoelectric actuator structure;
FIG. 5 is a schematic diagram of the structure of the polarization of a piezoelectric ceramic plate;
FIG. 6 is a schematic view of the operation of the patch-type piezoelectric actuator;
fig. 7 is a schematic diagram of the motion trajectories of particles on the outer surface of a rotor mechanism.
Detailed Description
The invention is further explained below with reference to the drawings.
As shown in fig. 1 to 3, a patch type piezoelectric driving rotor craft comprises a propeller 1, a rotor mechanism 2 and a patch type piezoelectric actuator 3.
The patch type piezoelectric actuator 3 is composed of a variable cross-section rod 3-1 and four piezoelectric ceramic pieces 3-2 provided on the surface of the variable cross-section rod 3-1. The variable cross section rod 3-1 comprises a constant cross section rectangular beam positioned at the lower part and a variable cross section cylindrical rod positioned at the upper part, and four piezoelectric ceramic plates 3-2 are respectively and symmetrically adhered to four surfaces of the constant cross section rectangular beam through epoxy resin glue. The four piezoelectric ceramic plates 3-2 have the same polarization type and are polarized in the thickness direction; wherein, all piezoelectric ceramic plates 3-2 are divided into two groups according to the pasting directions on the four surfaces of the rectangular beam with the uniform section, and the polarization directions of the two piezoelectric ceramic plates 3-2 positioned in the same direction are the same, as shown in fig. 5. The variable-section cylindrical rod part is provided with two continuous variable-section concave cylindrical structures, and the outer circumference of the concave cylindrical structure with the smallest diameter is a driving surface.
The rotor mechanism 2 comprises a cylindrical ring 2-1 provided with an even number of eccentric grooves uniformly distributed along the circumference, an even number of rectangular reeds 2-2 corresponding to the eccentric grooves and an elastic ring 2-3, wherein the slotting direction of the eccentric grooves on the cylindrical ring 2-1 is uniformly deviated to one side. One end of the rectangular reed 2-2 is provided with a clamping groove, and the other end of the rectangular reed passes through an eccentric groove on the cylindrical ring 2-1 to be contacted with the driving surface of the variable-section cylindrical rod. The elastic rings 2-3 are sleeved on the outer sides of the rectangular reeds 2-2, are fixed at clamping grooves of the rectangular reeds 2-2, and apply pre-pressure between the rotor mechanism 2 and the patch piezoelectric actuator 3.
The propeller 1 is provided with a through hole, the aperture of which is the same as that of the inner hole of the cylindrical ring 2-2, and is fixed at the upper end of the cylindrical ring 2-1.
Two groups of ceramic plates 3-2 on the patch type piezoelectric actuator 3 are respectively applied with two-phase electric signals with pi/2 phase difference, so that the patch type piezoelectric actuator 3 simultaneously excites two-phase mutually perpendicular second-order bending vibration modes. Taking the first electric signal as sine signal and the second electric signal as cosine signal as an example, the excited vibration is second-order bending vibration in order to obtain the vibration mode conforming to the designed structure. The single patch type piezoelectric actuator 3 is taken as a study object, and the middle nodes of two orthogonal second-order bending vibrations are arranged in the middle of the variable cross-section rod 3-1 and can be used for clamping the whole piezoelectric actuator; the bonding positions of the two groups of piezoelectric ceramic plates are respectively positioned at the first maximum amplitude position of the second-order bending vibration of each self-excited patch type piezoelectric actuator; the smallest cylindrical driving surface of the concave variable cross-section cylindrical rod is located at the second largest amplitude position of the second order flexural vibration of the patch-type piezoelectric actuator, as shown in fig. 6. When two second-order bending vibration modes excited on the patch type piezoelectric actuator are mutually coupled, the concave variable cross-section round rod performs quasi-circular rotation motion along the circumferential direction, so that in one period T, all mass points of the driving surface perform elliptical motion, when T epsilon (0, T/4), the driving surface simultaneously stretches towards the horizontal direction and the vertical direction, and the horizontal displacement component and the vertical displacement component of a particle simultaneously positively increase; when T epsilon (T/4, T/2), exciting the sine signal to positively increase the vertical displacement component generated by the driving surface, and the cosine signal to negatively increase the horizontal displacement component generated by the driving surface; when T epsilon (T/2, 3T/4), the driving surface is shortened in the horizontal direction and the vertical direction simultaneously, and the horizontal displacement component and the vertical displacement component of the particles are increased in the negative direction simultaneously; when T epsilon (3T/4, T), the exciting cosine signal increases the vertical displacement component generated by the driving surface in the negative direction, the sine signal increases the horizontal displacement component generated by the driving surface in the positive direction, and the displacement components of the particles on the inner surface of the driving surface of the patch type piezoelectric actuator 3 in one period are superposed into an elliptical track.
In the mounted state, no gap exists between each reed 2-2 and the driving surface of the patch piezoelectric actuator 3. When the driving surface of the patch type piezoelectric actuator 3 vibrates, the force acting on the reed 2-2 on one side pushes the reed 2-2 outwards, a gap is formed between the reed 2-2 on the other side and the driving surface of the patch type piezoelectric actuator 3 in the horizontal direction, and the reed 2-2 on the other side is pushed to the driving surface of the patch type piezoelectric actuator 3 by the pre-pressure of the elastic ring 2-3 on the reed 2-2, so that the reed 2-2 still keeps in contact. The actual contact of the outer surface of the driving surface with the eight leaves 2-2 is still a circle, i.e. a contact circle, the radius of which is determined by the elliptical motion amplitude of the driving surface of the patch-type piezoelectric actuator 3 and the stiffness of the leaves 2-2, as shown in fig. 7. The ideal vibration mode is that under the condition of certain pre-pressure, the driving surface of the patch type piezoelectric actuator 3 generates integral round-like rotary motion, the reed 2-2 is basically not deformed, and the reed is driven to move by integral translation under the friction action as much as possible, so that the whole rotor mechanism rotates, and the rotation of the propeller is realized. However, the reed 2-2 is an elastic body, and is locally deformed in addition to the whole translation along the slot hole under the action of the piezoelectric actuator 3; and when the reed and the variable cross-section rod relatively rotate under the friction effect, the reed and the variable cross-section rod also can generate relative sliding due to elastic deformation. The design aims to make the amplitude of the driving surface of the piezoelectric actuator as large as possible and make the elastic deformation of the reed as small as possible on the premise of minimizing the appearance volume and the mass. And when the specific external dimension is designed, carrying out modal analysis by finite element simulation software, and carrying out parameterized adjustment on the dimension. The slotting direction of the eccentric slot is uniformly deviated to one side, and when the phase difference of two-phase excitation signals is changed, the propeller can realize reverse rotation.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (4)
1. A patch-type piezoelectric-driven rotor craft device, characterized in that: comprises a propeller (1), a rotor mechanism (2) and a patch type piezoelectric actuator (3); the patch type piezoelectric actuator (3) is composed of a variable cross-section rod (3-1) and four piezoelectric ceramic plates (3-2) arranged on the surface of the variable cross-section rod (3-1); the variable cross section rod (3-1) comprises a constant cross section rectangular beam positioned at the lower part and a variable cross section cylindrical rod positioned at the upper part, and the four piezoelectric ceramic plates (3-2) are respectively stuck to the four surfaces of the constant cross section rectangular beam through epoxy resin glue; the rotor mechanism (2) comprises a cylindrical ring (2-1) provided with an even number of eccentric grooves uniformly distributed along the circumference, an even number of rectangular reeds (2-2) corresponding to the eccentric grooves and an elastic ring (2-3); one end of the rectangular reed (2-2) is provided with a clamping groove, and the other end of the rectangular reed passes through the eccentric groove on the cylindrical ring (2-1) to be contacted with the driving surface of the variable-section cylindrical rod; the elastic rings (2-3) are sleeved on the outer sides of the rectangular reeds (2-2) and fixed at clamping grooves of the rectangular reeds (2-2), and pre-pressure between the rotor mechanism (2) and the patch piezoelectric actuator (3) is applied; the screw propeller (1) is fixed at the upper end of the cylindrical ring (2-1);
The four piezoelectric ceramic plates (3-2) have the same polarization type and are polarized in the thickness direction; all piezoelectric ceramic plates (3-2) are divided into two groups according to the pasting directions on the four surfaces of the rectangular beam with the uniform section, and the polarization directions of the two piezoelectric ceramic plates (3-2) positioned in the same direction are the same.
2. The patch-type piezoelectrically driven rotorcraft device of claim 1, wherein: the variable-section cylindrical rod part is provided with two continuous variable-section concave cylindrical structures, and the outer circumference of the concave cylindrical structure with the smallest diameter is the driving surface.
3. The patch-type piezoelectrically driven rotorcraft device of claim 1, wherein: the slotting direction of the eccentric slot on the cylindrical ring (2-1) is uniformly deviated to one side.
4. The patch-type piezoelectrically driven rotorcraft device of claim 2, wherein: when two groups of ceramic plates (3-2) on the patch type piezoelectric actuator (3) are respectively applied with two electric signals with pi/2 phase difference, so that the patch type piezoelectric actuator (3) simultaneously excites two mutually perpendicular second-order bending vibration modes, the middle node of the variable cross section rod (3-1) is positioned at the middle node of two orthogonal second-order bending vibrations, the bonding positions of the two groups of piezoelectric ceramic plates (3-2) are respectively positioned at the first maximum amplitude positions of the second-order bending vibrations emitted by each self-excitation, and the driving surface is positioned at the second maximum amplitude position of the second-order bending vibrations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811344655.5A CN109398685B (en) | 2018-11-13 | 2018-11-13 | Patch type piezoelectric driving rotor wing flying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811344655.5A CN109398685B (en) | 2018-11-13 | 2018-11-13 | Patch type piezoelectric driving rotor wing flying device |
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| Publication Number | Publication Date |
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| CN109398685A CN109398685A (en) | 2019-03-01 |
| CN109398685B true CN109398685B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811344655.5A Active CN109398685B (en) | 2018-11-13 | 2018-11-13 | Patch type piezoelectric driving rotor wing flying device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110995056B (en) * | 2019-12-27 | 2020-12-29 | 合肥工业大学 | Synchronous impact piezoelectric motor |
| CN112448613B (en) * | 2020-10-26 | 2021-11-23 | 南京航空航天大学 | Surface-mounted piezoelectric driven underwater propeller vector propulsion system and method thereof |
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|---|---|---|---|---|
| CN103036472A (en) * | 2012-11-28 | 2013-04-10 | 上海交通大学 | Threaded linear ultrasonic motor |
| CN106976558A (en) * | 2017-04-28 | 2017-07-25 | 南京航空航天大学 | A kind of patch type piezoelectric drives four rotor flight devices and its method of work |
| CN206615409U (en) * | 2017-03-06 | 2017-11-07 | 南京航空航天大学 | A kind of sandwich Piezoelectric Driving four-wheel planetary detecting robot |
| CN209617466U (en) * | 2018-11-13 | 2019-11-12 | 南京航空航天大学 | A kind of patch type piezoelectric driving rotor flight device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9004394B2 (en) * | 2010-09-09 | 2015-04-14 | Groen Brothers Aviation, Inc. | Mission-adaptive rotor blade with circulation control |
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2018
- 2018-11-13 CN CN201811344655.5A patent/CN109398685B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103036472A (en) * | 2012-11-28 | 2013-04-10 | 上海交通大学 | Threaded linear ultrasonic motor |
| CN206615409U (en) * | 2017-03-06 | 2017-11-07 | 南京航空航天大学 | A kind of sandwich Piezoelectric Driving four-wheel planetary detecting robot |
| CN106976558A (en) * | 2017-04-28 | 2017-07-25 | 南京航空航天大学 | A kind of patch type piezoelectric drives four rotor flight devices and its method of work |
| CN209617466U (en) * | 2018-11-13 | 2019-11-12 | 南京航空航天大学 | A kind of patch type piezoelectric driving rotor flight device |
Non-Patent Citations (2)
| Title |
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| 两自由度压电执行器驱动的两维运动平台研究;泮振锋 等;国际会议;105-108 * |
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